Yi-Hong Zhang

Surpassing Human Wrist Constraints: Dexterity-Enhanced Techniques for Teleoperated Robotic Manipulation

Free-hand teleoperation enables intuitive robot control by mapping human hand and arm poses to end-effector motion. However, its effectiveness in complex tasks is constrained by the mismatch between human wrist biomechanics and robotic arm capabilities. From 60 demonstration videos across four task categories, we ident...